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Trajectory tracking of inverted pendulums via Lie derivative of a scalar function
In this paper, we propose a nonlinear state feedback control law to satisfy a constraint on state variables. The constraint is expressed as an algebraic equation containing a scalar nonlinear function such as an energy function or a limit cycle. Computing the time-derivative of the scalar function t...
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Main Authors: | , , , |
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Format: | Conference Proceeding |
Language: | English |
Subjects: | |
Online Access: | Request full text |
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Summary: | In this paper, we propose a nonlinear state feedback control law to satisfy a constraint on state variables. The constraint is expressed as an algebraic equation containing a scalar nonlinear function such as an energy function or a limit cycle. Computing the time-derivative of the scalar function that defines the constraint of the state variables, we derive a nonlinear controller to regulate the state variable satisfying the constraint. An inverted pendulum system is given to demonstrate the closed-loop performance of the proposed controller. |
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